CN-120697063-B - Automatic clamping method for pasture planting and manipulator

CN120697063BCN 120697063 BCN120697063 BCN 120697063BCN-120697063-B

Abstract

The invention relates to the technical field of manipulators, in particular to an automatic clamping method for pasture planting and a manipulator, which comprises the following steps of S1, positioning to a target cultivation basin position, and initializing the manipulator to an expansion mode; S2, switching the manipulator to a first-stage clamping mode to enable the manipulator to be attached to the side wall of the cultivating basin and located below the basin edge, S3, moving the manipulator upwards to hold the cultivating basin, enabling the top end of the basin edge to be pressed by the manipulator through weight of the cultivating basin, and S4, switching the manipulator to a second-stage clamping mode to enable the manipulator to lock the pressing state of the basin edge of the cultivating basin to be dead.

Inventors

GU HONGRU
PAN XIAOQING

Assignees

智元百草(常州)农业科技发展有限公司
智元百草(盐城)农业科技发展有限公司

Dates

Publication Date: 20260505
Application Date: 20250725

Claims (3)

1. The automatic grass planting manipulator is characterized by comprising a bottom plate (1), wherein a moving mechanism (2) is arranged on the bottom plate (1), a clamping driving mechanism (3) is fixedly arranged on the moving mechanism (2), two groups of clamping support rods (4) are arranged on the clamping driving mechanism (3), and a pressing mechanism (5) and a locking mechanism (6) are arranged on the two groups of clamping support rods (4); the two groups of clamping support rods (4) are provided with limiting grooves (401) on opposite sides, the locking mechanisms (6) are arranged in the limiting grooves (401), two groups of movable cavities (402) communicated with the limiting grooves (401) are formed on two sides of the top ends of the clamping support rods (4), and the compressing mechanisms (5) are arranged in the movable cavities (402); The compressing mechanism (5) comprises a compressing component (7) rotatably arranged in the movable cavity (402), and a driving component (8) for driving the compressing component (7); the clamping driving mechanism (3) is provided with a primary clamping mode, a secondary clamping mode and an expansion mode, when in primary clamping, the clamping supporting rod (4) moves upwards along with the moving mechanism (2) to support the cultivation basin and enable the driving assembly (8) to move downwards, and when in secondary clamping, the locking mechanism (6) is in plug-in matching with the driving assembly (8) which moves downwards; The clamping driving mechanism (3) comprises a shell (301) arranged on the moving mechanism (2), a cam block (9) and a clamping assembly (10) which are arranged in a cavity of the shell (301), and a driving motor (302) which is arranged at the top of the shell (301) and fixedly connected with the axle center of the cam block (9); The clamping assembly (10) comprises two groups of moving blocks (1001) which are slidably arranged in the cavity of the shell (301), and tension springs (1002) which are arranged between the two groups of moving blocks (1001); An expansion point (901), a primary clamping point (902) and a secondary clamping point (903) are arranged on the cam block (9), and an included angle between the expansion point (901), the primary clamping point (902) and a connecting line between the secondary clamping point (903) and the axis of the cam block (9) is 60 degrees; two groups of expansion points (901), primary clamping points (902) and secondary clamping points (903) are arranged, and the connecting lines among the two groups of expansion points (901), the primary clamping points (902) and the secondary clamping points (903) pass through the axle center of the cam block (9); a strip-shaped groove (303) is formed in the bottom of the shell (301); A guide block (1003) is arranged at the bottom of the moving block (1001), and the guide block (1003) is matched with the strip-shaped groove (303) in a sliding manner; An avoidance groove (1004) is formed in the top end of one side, close to the cam block (9), of the moving block (1001), and a locking block (1005) is arranged in the avoidance groove (1004); the positions of a primary clamping point (902) and a secondary clamping point (903) at the upper end of the side wall of the cam block (9) are respectively provided with an L-shaped positioning rod (904) with the same size; the pressing assembly (7) comprises a rotating wheel (701) rotatably installed in the movable cavity (402), a connecting rod (702) arranged on the circumferential side wall of the rotating wheel (701), and a pressing block (703) integrally formed with the connecting rod (702); The included angle between the connecting rod (702) and the pressing block (703) is an acute angle, and the annular array of tooth blocks (704) are arranged on the circumferential side wall of the rotating wheel (701); The driving assembly (8) comprises a rack (801) arranged in the movable cavity (402), a pressing plate (802) arranged at the top end of the rack (801), and a first spring (803) arranged at one side of the rack (801) and fixedly connected with the bottom end of the pressing plate (802); one side of the rack (801) is attached to the inner wall of the movable cavity (402), the other side of the rack (801) is meshed with the tooth block (704), and the rack (801) is matched and spliced with a communication area of the movable cavity (402) and the limit groove (401); the rack (801) is provided with a locking hole (804), and the locking hole (804) is in butt joint with the locking mechanism (6); The locking mechanism (6) comprises a collision component (11) arranged in the limit groove (401) and a locking rod (601) arranged at one end of the collision component (11); the locking rod (601) is in butt joint matching with the locking hole (804); the clamping method of the automatic grass planting manipulator comprises the following steps of: s1, positioning to a target cultivation basin position, and initializing a manipulator to an expansion mode; S2, switching the manipulator to a primary clamping mode, so that the manipulator is attached to the side wall of the cultivation basin and is positioned below the basin edge; S3, lifting the cultivating basin by the upward moving manipulator, and enabling the top end of the basin edge to be pressed by the manipulator through the weight of the cultivating basin; S4, the manipulator is switched to a secondary clamping mode, so that the manipulator locks the compact state of the edge of the cultivating basin.
2. The automated grass planting manipulator of claim 1, wherein a baffle ring (12) is arranged in the limit groove (401), and the abutting component (11) is arranged on one side of the baffle ring (12); The interference component (11) comprises a second spring (1101) sleeved outside the circumference of the locking rod (601), an interference rod (1102) arranged at one end, far away from the baffle ring (12), of the second spring (1101), and balls (1103) arranged at one end, far away from the baffle ring (12), of the interference rod (1102).
3. The automated grass planting manipulator as set forth in claim 2, wherein the moving mechanism (2) comprises a horizontal electric sliding table (201) arranged on the base plate (1), and a longitudinal electric sliding table (202) arranged on the horizontal electric sliding table (201).

Description

Automatic clamping method for pasture planting and manipulator Technical Field The invention relates to the technical field of manipulators, in particular to an automatic clamping method for pasture planting and a manipulator. Background In the grass planting and cultivating process, the automatic operation has important significance for improving the production efficiency and reducing the labor cost. Especially in the forage grass cultivation stage, need to carry cultivation basin from low level to high level or shift between different cultivation shelves, this process relies on the manual work to accomplish mostly traditionally, has inefficiency, intensity of labour is big and easily makes mistakes scheduling problem. Although some automation equipment exists in the market, at present automation equipment generally adopts the inserted bar to hold up the cultivation basin when taking the cultivation basin, or uses splint to carry the cultivation basin centre gripping, at first the inserted bar holds up the mode of taking of cultivating the basin, lead to cultivating basin stability relatively poor, when jolting appears in the transportation, cultivate the basin and also jolt thereupon, then there is the condition of landing along the inserted bar opening direction, and splint centre gripping is cultivated the basin, because of the material of material cultivation basin exists differently, when the centre gripping to splint, its fixed clamping dynamics leads to the damage along individual cultivation basin easily. In order to solve the problems, an automatic clamping method for pasture planting and a manipulator are provided. Disclosure of Invention (One) solving the technical problems Aiming at the problems in the prior art, the invention provides an automatic clamping method and a manipulator for pasture planting, which are used for solving the problems that in the prior art, in the process of pasture planting and cultivating, the efficiency of a traditional artificial carrying cultivating basin is low, the labor intensity is high and mistakes are easy to occur, and the stability is poor or the edge of the cultivating basin is easy to damage when the cultivating basin is taken by the existing automatic equipment. (II) technical scheme In order to achieve the purpose, the invention provides the following technical scheme that the automatic clamping method for pasture planting comprises the following steps: s1, positioning to a target cultivation basin position, and initializing a manipulator to an expansion mode; S2, switching the manipulator to a primary clamping mode, so that the manipulator is attached to the side wall of the cultivation basin and is positioned below the basin edge; S3, lifting the cultivating basin by the upward moving manipulator, and enabling the top end of the basin edge to be pressed by the manipulator through the weight of the cultivating basin; S4, the manipulator is switched to a secondary clamping mode, so that the manipulator locks the compact state of the edge of the cultivating basin. The invention also provides a technical scheme that the automatic grass planting manipulator is applied to the automatic grass planting clamping method and comprises a bottom plate, wherein a moving mechanism is arranged on the bottom plate, a clamping driving mechanism is fixedly arranged on the moving mechanism, two groups of clamping support rods are arranged on the clamping driving mechanism, and a pressing mechanism and a locking mechanism are arranged on the two groups of clamping support rods; The two groups of clamping support rods are provided with limiting grooves on opposite sides, the locking mechanism is arranged in the limiting grooves, two groups of movable cavities communicated with the limiting grooves are formed on two sides of the top ends of the clamping support rods, and the pressing mechanism is arranged in the movable cavities; the compressing mechanism comprises a compressing component rotatably arranged in the movable cavity and a driving component for driving the compressing component; The clamping driving mechanism is provided with a primary clamping mode, a secondary clamping mode and an expansion mode, when the primary clamping is carried out, the clamping supporting rods move upwards along with the moving mechanism to support the cultivation basin and enable the driving assembly to move downwards, and when the secondary clamping is carried out, the locking mechanism is in plug-in matching with the downward-moving driving assembly. The invention is further arranged that the clamping driving mechanism comprises a shell arranged on the moving mechanism, a cam block and a clamping assembly which are arranged in a cavity of the shell, and a driving motor which is arranged at the top of the shell and fixedly connected with the axle center of the cam block; the clamping assembly comprises two groups of moving blocks which are slidably arranged in the cavity of the shell,